Navigation Path Following Platform for a Greenhouse Shuttle Robot Using the State-flow Method

Table 2

Trajectory tracking test 1 with State-flow design for pipe line test.

Forward 1	During v = 1, w = 2	Time set = 1 s
1 Straight	During v = 0.2, w = 0	Time set = 10 s
2 Turn left	During v = 0.2, w = 0	Time set = 10 s
Pipe line 3 straight	During v = 0.2, w = 0	Time set = 15 s
Pipe line 4 backward	During v = −0.2, w = 0	Time set = 15 s
5 Rightward	During v = 0.2, w = −1	Time set = 10 s